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<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
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<div class="title">robot_properties_solo.config.Solo12Config Class Reference</div>  </div>
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Inheritance diagram for robot_properties_solo.config.Solo12Config:</div>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr class="memitem:a3a6ac10f7f9e5d67ce2390cdfd2b2e2a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3a6ac10f7f9e5d67ce2390cdfd2b2e2a"></a>
string&#160;</td><td class="memItemRight" valign="bottom"><b>robot_family</b> = &quot;solo&quot;</td></tr>
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string&#160;</td><td class="memItemRight" valign="bottom"><b>robot_name</b> = &quot;solo12&quot;</td></tr>
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<tr class="memitem:a989fedb02f6a9dd4136f034ed9482489"><td class="memItemLeft" align="right" valign="top">tuple&#160;</td><td class="memItemRight" valign="bottom"><b>urdf_path</b></td></tr>
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<tr class="memitem:ac02a04cc8bec8b94c4c503b8176996c5"><td class="memItemLeft" align="right" valign="top">list&#160;</td><td class="memItemRight" valign="bottom"><b>meshes_path</b></td></tr>
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<tr class="memitem:a484dfe0fb7409d9848a6143f7e64955b"><td class="memItemLeft" align="right" valign="top">tuple&#160;</td><td class="memItemRight" valign="bottom"><b>yaml_path</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>motor_inertia</b> = 0.0000045</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>motor_gear_ration</b> = 9</td></tr>
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<tr class="memitem:aa3558675d13a055c3c018fe979daaed3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><b>robot_model</b></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>base_name</b> = robot_model.frames[2].name</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>nb_joints</b> = robot_model.nv-6</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>urdf_to_dgm</b> = tuple(range(12))</td></tr>
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dictionary&#160;</td><td class="memItemRight" valign="bottom"><b>map_joint_name_to_id</b> = {}</td></tr>
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dictionary&#160;</td><td class="memItemRight" valign="bottom"><b>map_joint_limits</b> = {}</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>initial_configuration</b> = [0.2, 0., 0.4, 0., 0., 0., 1.]+4</td></tr>
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tuple&#160;</td><td class="memItemRight" valign="bottom"><b>initial_velocity</b> = (8 + 4 + 6)*[0,]</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>q0</b> = zero(robot_model.nq)</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>v0</b> = zero(robot_model.nv)</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>a0</b> = zero(robot_model.nv)</td></tr>
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<tr class="inherit_header pub_static_attribs_classrobot__properties__solo_1_1config_1_1SoloAbstract"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classrobot__properties__solo_1_1config_1_1SoloAbstract')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classrobot__properties__solo_1_1config_1_1SoloAbstract.html">robot_properties_solo.config.SoloAbstract</a></td></tr>
<tr class="memitem:a67bd22d88ac2e10f8891de035bb0063c inherit pub_static_attribs_classrobot__properties__solo_1_1config_1_1SoloAbstract"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a67bd22d88ac2e10f8891de035bb0063c"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>kp</b> = 5.0</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>kd</b> = 0.1</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>ki</b> = 0.0</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>motor_torque_constant</b> = 0.025</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>control_period</b> = 0.001</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>dt</b> = control_period</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>max_current</b> = 2</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>max_torque</b> = motor_torque_constant*max_current</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>max_control</b> = max_current</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>ctrl_manager_current_to_control_gain</b> = 1.0</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>max_qref</b> = pi</td></tr>
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Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_methods_classrobot__properties__solo_1_1config_1_1SoloAbstract"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classrobot__properties__solo_1_1config_1_1SoloAbstract')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classrobot__properties__solo_1_1config_1_1SoloAbstract.html">robot_properties_solo.config.SoloAbstract</a></td></tr>
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def&#160;</td><td class="memItemRight" valign="bottom"><b>buildRobotWrapper</b> (cls)</td></tr>
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def&#160;</td><td class="memItemRight" valign="bottom"><b>joint_name_in_single_string</b> (self)</td></tr>
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<h2 class="groupheader">Member Data Documentation</h2>
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          <td class="memname">list robot_properties_solo.config.Solo12Config.meshes_path</td>
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<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;= [</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;      dirname(rospkg.RosPack().get_path(<span class="stringliteral">&quot;robot_properties_&quot;</span> + robot_family))</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;    ]</div></div><!-- fragment -->
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          <td class="memname">robot_properties_solo.config.Solo12Config.robot_model</td>
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<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;= se3.buildModelFromUrdf(urdf_path,</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;                                         se3.JointModelFreeFlyer())</div></div><!-- fragment -->
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          <td class="memname">tuple robot_properties_solo.config.Solo12Config.urdf_path</td>
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<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;= (</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;        join(rospkg.RosPack().get_path(<span class="stringliteral">&quot;robot_properties_&quot;</span> + robot_family),</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;             <span class="stringliteral">&quot;urdf&quot;</span>,</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;             robot_name + <span class="stringliteral">&quot;.urdf&quot;</span>)</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;    )</div></div><!-- fragment -->
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          <td class="memname">tuple robot_properties_solo.config.Solo12Config.yaml_path</td>
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<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;= (</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;        join(rospkg.RosPack().get_path(<span class="stringliteral">&quot;robot_properties_&quot;</span> + robot_family),</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;             <span class="stringliteral">&quot;config&quot;</span>,</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;             <span class="stringliteral">&quot;dgm_parameters.yaml&quot;</span>)</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;    )</div></div><!-- fragment -->
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>/workspace/software/workspace/src/catkin/robots/robot_properties/robot_properties_solo/python/robot_properties_solo/config.py</li>
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